@article{4c91b52cacbb421e898490484f49a9df,
title = "A concise guide to modelling the physics of embodied intelligence in soft robotics",
abstract = "Embodied intelligence (intelligence that requires and leverages a physical body) is a well-known paradigm in soft robotics, but its mathematical description and consequent computational modelling remain elusive, with a need for models that can be used for design and control purposes. We argue that filling this gap will enable full uptake of embodied intelligence in soft robots. We provide a concise guide to the main mathematical modelling approaches, and consequent computational modelling strategies, that can be used to describe soft robots and their physical interactions with the surrounding environment, including fluid and solid media. We aim to convey the challenges and opportunities within the context of modelling the physical interactions underpinning embodied intelligence. We emphasize that interdisciplinary work is required, especially in the context of fully coupled robot–environment interaction modelling. Promoting this dialogue across disciplines is a necessary step to further advance the field of soft robotics.",
author = "Gianmarco Mengaldo and Federico Renda and Brunton, {Steven L.} and Moritz B{\"a}cher and Marcello Calisti and Christian Duriez and Chirikjian, {Gregory S.} and Cecilia Laschi",
note = "Funding Information: G.M. acknowledges NUS support through his start-up grant (R-265-000-A36-133). G.S.C. acknowledges MOE Tier 1 grant (R-265-000-655-114). C.L. acknowledges NUS support through her start-up grant (R-265-000-A31-133 and R-265-000-A31-731). Part of this research is supported by the National Research Foundation, Singapore, under its Medium Sized Centre Programme — Centre for Advanced Robotics Technology Innovation (CARTIN). G.M., G.S.C. and C.L. acknowledge MOE Tier 2 grant {\textquoteleft}REBOT{\textquoteright}. This work was supported in part by the US Office of Naval Research Global under grant N62909-21-1-2033 and Khalifa University of Science and Technology under grants CIRA-2020-074 and RC1-2018-KUCARS. Publisher Copyright: {\textcopyright} 2022, Springer Nature Limited.",
year = "2022",
month = sep,
doi = "10.1038/s42254-022-00481-z",
language = "British English",
volume = "4",
pages = "595--610",
journal = "Nature Reviews Physics",
issn = "2522-5820",
publisher = "Springer International Publishing",
number = "9",
}